cmake_minimum_required(VERSION 2.8.3)
project(mecanumbot)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS std_msgs nav_msgs geometry_msgs sensor_msgs pcl_conversions pcl_ros roscpp tf message_generation)

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
find_package(cmake_modules REQUIRED)
find_package(Eigen REQUIRED)
include_directories(${Eigen_INCLUDE_DIRS})

## Uncomment this if the package has a setup.py. This macro ensures
## modules and scripts declared therein get installed
# catkin_python_setup()

#######################################
## Declare ROS messages and services ##
#######################################

# Generate messages in the 'msg' folder
add_message_files(
  FILES
  RobotHealth.msg
)

## Generate services in the 'srv' folder
add_service_files(
  FILES
  RobotHazardsEnable.srv
)

## Generate added messages and services with any dependencies listed here
generate_messages(
  DEPENDENCIES
  std_msgs
)

###################################################
## Declare things to be passed to other projects ##
###################################################

## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES mecanumbot
  CATKIN_DEPENDS message_runtime #geometry_msgs roscpp tf
#  DEPENDS system_lib
)

###########
## Build ##
###########

## Specify additional locations of header files
include_directories(include
  ${catkin_INCLUDE_DIRS}
)

## Declare a cpp library
# add_library(mecanumbot
#   src/${PROJECT_NAME}/mecanumbot.cpp
# )

## Declare a cpp executable
add_executable(odometry_publisher src/odometry_publisher.cpp)
add_executable(teleop_xbox src/teleop_xbox.cpp)
add_executable(ball_tracker src/ball_tracker.cpp)
add_executable(target_follower src/target_follower.cpp)
add_executable(target_average_filter src/target_average_filter.cpp)

## Add dependencies to the executable
add_dependencies(teleop_xbox mecanumbot_generate_messages_cpp)

## Specify libraries to link a library or executable target against
target_link_libraries(odometry_publisher
  ${catkin_LIBRARIES}
)
target_link_libraries(teleop_xbox
  ${catkin_LIBRARIES}
)
target_link_libraries(ball_tracker
  ${catkin_LIBRARIES}
)
target_link_libraries(target_follower
  ${catkin_LIBRARIES}
)
target_link_libraries(target_average_filter
  ${catkin_LIBRARIES}
)

#############
## Install ##
#############message_runtime

## Mark executable scripts (Python etc.) for installation
## not required for python when using catkin_python_setup()
# install(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables and/or libraries for installation
# install(TARGETS mecanumbot mecanumbot_node
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_mecanumbot.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
